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. 2023 Mar 10;14:1313. doi: 10.1038/s41467-023-37085-9

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© The Author(s) 2023

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 3 — a, b Time evolutions of the Fourier transform infrared (FTIR) spectra at 80 and 120 °C, respectively. c The conversions from hindered urea to urethane (α_n) at 80 and 120 °C. d Iso-strain stress relaxation curves (strain is fixed at 10%). e Calculated shape retention after multiple cycles of shape reconfiguration (80 °C, 60 min). f Visual demonstration of the shape reprogrammability. Scale bar, 10 mm.